CRIGOS - Development of a compact robot system for image-guided orthopedicsurgery

In this paper, we present a medical robot system dedicated to support the s urgeon during challenging tasks within orthopedic interventions. The main g oal of this work is to develop a system as technically simple as the surgic al requirements allow to keep its cost and complexity to a minimum. Therefore, we primarily focus on calibrated X-ray imaging for image acquisi tion, an easy registration procedure and robotic execution using a position ing device with simple parallel kinematics. Examples of different orthopedi c interventions using the compact robot system for image-guided orthopedic surgery (CRIGOS) are presented, as well as various modes of execution of th e device.